Achieving successful scan matching is essential for LiDAR odometry. However, in challenging environments with adverse weather conditions or repetitive geometric patterns, LiDAR odometry performance is degraded due to incorrect scan matching. Recently, the emergence of frequency-modulated continuous wave 4D LiDAR and 4D radar technologies has provided the potential to address these unfavorable conditions. The term 4D refers to point cloud data characterized by range, azimuth, and elevation along with Doppler velocity. Although 4D data is available, most scan matching methods for 4D LiDAR and 4D radar still establish correspondence by repeatedly identifying the closest points between consecutive scans, overlooking the Doppler information. This paper introduces, for the first time, a simple Doppler velocity-based correspondence -- Doppler Correspondence -- that is invariant to translation and small rotation of the sensor, with its geometric and kinematic foundations. Extensive experiments demonstrate that the proposed method enables the direct matching of consecutive point clouds without an iterative process, making it computationally efficient. Additionally, it provides a more robust correspondence estimation in environments with repetitive geometric patterns.

The introduction of 8-bit floating-point (FP8) computation units in modern AI accelerators has generated significant interest in FP8-based large language model (LLM) inference. Unlike 16-bit floating-point formats, FP8 in deep learning requires a shared scaling factor. Additionally, while E4M3 and E5M2 are well-defined at the individual value level, their scaling and accumulation methods remain unspecified and vary across hardware and software implementations. As a result, FP8 behaves more like a quantization format than a standard numeric representation. In this work, we provide the first comprehensive analysis of FP8 computation and acceleration on two AI accelerators: the NVIDIA H100 and Intel Gaudi 2. Our findings highlight that the Gaudi 2, by leveraging FP8, achieves higher throughput-to-power efficiency during LLM inference, offering valuable insights into the practical implications of FP8 adoption for datacenter-scale LLM serving.

AI tools are increasingly deployed in community contexts. However, datasets used to evaluate AI are typically created by developers and annotators outside a given community, which can yield misleading conclusions about AI performance. How might we empower communities to drive the intentional design and curation of evaluation datasets for AI that impacts them? We investigate this question on Wikipedia, an online community with multiple AI-based content moderation tools deployed. We introduce Wikibench, a system that enables communities to collaboratively curate AI evaluation datasets, while navigating ambiguities and differences in perspective through discussion. A field study on Wikipedia shows that datasets curated using Wikibench can effectively capture community consensus, disagreement, and uncertainty. Furthermore, study participants used Wikibench to shape the overall data curation process, including refining label definitions, determining data inclusion criteria, and authoring data statements. Based on our findings, we propose future directions for systems that support community-driven data curation.

Diffusion models have risen as a powerful tool in robotics due to their flexibility and multi-modality. While some of these methods effectively address complex problems, they often depend heavily on inference-time obstacle detection and require additional equipment. Addressing these challenges, we present a method that, during inference time, simultaneously generates only reachable goals and plans motions that avoid obstacles, all from a single visual input. Central to our approach is the novel use of a collision-avoiding diffusion kernel for training. Through evaluations against behavior-cloning and classical diffusion models, our framework has proven its robustness. It is particularly effective in multi-modal environments, navigating toward goals and avoiding unreachable ones blocked by obstacles, while ensuring collision avoidance.

Equivariant Descriptor Fields (EDFs) [61] achieve dataefficient end-to-end learning on 6-DoF visual robotic manipulation Diffusion generative modeling has become a promising tasks by employing SE(3) bi-equivariant [37, approach for learning robotic manipulation tasks 61] energy-based models. However, EDFs require more from stochastic human demonstrations. In this paper, than 10 hours to learn from only a few demonstrations due we present Diffusion-EDFs, a novel SE(3)-equivariant to the inefficient training of energy-based models.